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add support for UR robot #953

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prjemian opened this issue Apr 3, 2024 · 5 comments
Open

add support for UR robot #953

prjemian opened this issue Apr 3, 2024 · 5 comments
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@MDecarabas
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task Something to be done.
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1.7.1

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@prjemian
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prjemian commented Apr 3, 2024

EPICS support for the UR3 robot is in development now.

Build ophyd Device classes as appropriate.
@prjemian prjemian added the task Something to be done. label Apr 3, 2024
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prjemian commented Apr 3, 2024

The dashboard might be a good starting place.

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prjemian commented Apr 3, 2024 •
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Perhaps a plan to bps.trigger(ur3.play):

image

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prjemian commented Apr 3, 2024

Monitor the joint positions:
image

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prjemian commented Apr 3, 2024

Status object might watch this PV ("$(P)$(R)Dashboard:Running") for completion of the play trigger.

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prjemian commented Apr 3, 2024

Needs a suspender if safety mode is tripped:
image

@prjemian prjemian added this to the 1.7.1 milestone Sep 21, 2024
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